| 舵叶随动式液压球形关节运动学及性能分析 |
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| 引用本文： | 方守龙,王亮. 舵叶随动式液压球形关节运动学及性能分析[J]. 北京理工大学学报, 2015, 35(4): 363-367,377. DOI: 10.15918/j.tbit1001-0645.2015.04.007 |
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| 作者姓名： | 方守龙 王亮 |
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| 作者单位： | 北京航空航天大学自动化科学与电气工程学院,北京,100191;北京航空航天大学自动化科学与电气工程学院,北京,100191 |
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| 基金项目： | 国家自然科学基金资助项目(50575014);国家"八六三"计划项目(2007AA04Z210) |
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| 摘 要： | 针对球面运动机构驱动方式问题,提出了一种新型液压驱动球形关节机构,该机构利用超全周转动马达及舵叶摆动马达作为驱动,可以实现超全周转动;由机构学理论推导了正逆运动学方程及雅克比矩阵,得出了机构的奇异位形;分析了机构的灵巧度性能指标及惯性力全域性能指标,通过仿真找到了机构性能较优时的结构参数. 该关节机构具有结构紧凑、低耦合、负载大并且能够实现全方位输出的特点.
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| 关 键 词： | 球形关节 液压驱动 超全周马达 灵巧度 全域性能指标 |
| 收稿时间： | 2013-11-14 |
Kinematics and Performance Analysis of Rudder Blade Followed Hydraulic Spherical Joint |
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| FANG Shou-long and WANG Liang. Kinematics and Performance Analysis of Rudder Blade Followed Hydraulic Spherical Joint[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2015, 35(4): 363-367,377. DOI: 10.15918/j.tbit1001-0645.2015.04.007 |
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| Authors: | FANG Shou-long and WANG Liang |
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| Affiliation: | Beijing University of Aeronautics and Astronautics, School of Automation Science and Electrical Engineering, Beijing 100191, China |
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| Abstract: | Following the problem of driving method for the spherical motion mechanism, a new type of hydraulic drive spherical joint was designed. Driven by a full cycle rotating motor and a swing motor with rudder blade, the mechanism could rotate more than one circle. Based on the mechanism theory, the forward-inverse kinematics equations and Jacobian matrix were produced, the singular configuration of the mechanism was found. Analyzing the dexterity index and inertia force global performance index, the structure parameters of the optimum mechanism performance were found with simulation. The characteristics of the joint mechanism are compact structure, low coupling, large capacity, and the joint can complete the omni-directional output. |
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| Keywords: | spherical joint hydraulic drive full cycle motor dexterity global performance index |
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